3.4. Electromechanical co-simulation modeling of ball screw feed drive system

Based on the lumped mass model of ball screw feed system and the servo control system simulation model, an electromechanical co-simulation model of the ball screw feed drive system was constructed. The co-simulation schematic is shown in Figure 10; as described above (a) is the semi-closed-loop cascade control system simulation model, while (b) is the lumped mass model of ball screw feed system. The inverter outputs ABC three-phase voltage to servomotor stator, which generates rotating magnetic field and produces magnetic torque on the servomotor rotor. This magnetic torque is the output torque TM of the servomotor and drives the rotor to rotate under the dynamic relations as shown in Eq. (8).

The electromechanical co-simulation model of the ball screw feed drive system is shown in Figure 11. The S\_Cal module on the left side generates the trajectory command for the feed drive system according to the acceleration/deceleration strategy. Under the cascade control system, which consists of position controller, velocity controller, and current controller, the servomotor drive and the ball screw accomplish the motion command accordingly.
